sick::cola2::Cola2Session Class Reference

Establishes a cola2 session with a sensor and enables execution of commands in this session. More...

#include <Cola2Session.h>

Public Types
typedef std::shared_ptr< sick::cola2::Command >	CommandPtr
	Typedef for a pointer containing a command to be executed. More...

Public Member Functions
bool	close ()
	Closes a session with the sensor. Executes the close session command. More...
	Cola2Session (const std::shared_ptr< communication::AsyncTCPClient > &async_tcp_client)
	Constructor of the cola2 session. More...
void	doDisconnect ()
	Triggers the disconnection of the tcp socket. More...
bool	executeCommand (const CommandPtr &command)
	Executes the command passed to the function. More...
uint16_t	getNextRequestID ()
	Returns the next request ID. The request ID is used to match the return packages of the sensor to the right command. More...
uint32_t	getSessionID () const
	Returns the current session ID. More...
bool	open ()
	Opens a session with the sensor. Executes the create session command. More...
void	setSessionID (const uint32_t &session_id)
	Sets the current session ID. More...

Private Member Functions
bool	addCommand (const uint16_t &request_id, const CommandPtr &command)
bool	addPacketToMerger (const sick::datastructure::PacketBuffer &packet)
bool	checkIfPacketIsCompleteAndOtherwiseListenForMorePackets ()
bool	findCommand (const uint16_t &request_id, CommandPtr &command)
void	processPacket (const sick::datastructure::PacketBuffer &packet)
bool	removeCommand (const uint16_t &request_id)
bool	sendTelegramAndListenForAnswer (const CommandPtr &command)
bool	startProcessingAndRemovePendingCommandAfterwards (const sick::datastructure::PacketBuffer &packet)

Private Attributes
std::shared_ptr< sick::communication::AsyncTCPClient >	m_async_tcp_client_ptr
boost::mutex	m_command_map_mutex
boost::mutex	m_execution_mutex
uint16_t	m_last_request_id
std::shared_ptr< sick::data_processing::TCPPacketMerger >	m_packet_merger_ptr
std::shared_ptr< sick::data_processing::ParseTCPPacket >	m_parser_ptr
std::map< uint16_t, CommandPtr >	m_pending_commands_map
uint32_t	m_session_id
std::shared_ptr< sick::data_processing::ParseTCPPacket >	m_tcp_parser_ptr

Detailed Description

Establishes a cola2 session with a sensor and enables execution of commands in this session.

Definition at line 72 of file Cola2Session.h.

Member Typedef Documentation

CommandPtr

typedef std::shared_ptr<sick::cola2::Command> sick::cola2::Cola2Session::CommandPtr

Typedef for a pointer containing a command to be executed.

Definition at line 78 of file Cola2Session.h.

Constructor & Destructor Documentation

Cola2Session()

sick::cola2::Cola2Session::Cola2Session ( const std::shared_ptr< communication::AsyncTCPClient > &  async_tcp_client )

explicit

Constructor of the cola2 session.

Parameters

async_tcp_client

Pointer to an instance of a TCP-client. Will be used to establish a connection to the sensor.

Definition at line 40 of file Cola2Session.cpp.

Member Function Documentation

addCommand()

bool sick::cola2::Cola2Session::addCommand ( const uint16_t &  request_id, const CommandPtr &  command  )

private

Definition at line 141 of file Cola2Session.cpp.

addPacketToMerger()

bool sick::cola2::Cola2Session::addPacketToMerger ( const sick::datastructure::PacketBuffer &  packet )

private

Definition at line 107 of file Cola2Session.cpp.

checkIfPacketIsCompleteAndOtherwiseListenForMorePackets()

bool sick::cola2::Cola2Session::checkIfPacketIsCompleteAndOtherwiseListenForMorePackets ( )

private

Definition at line 117 of file Cola2Session.cpp.

close()

bool sick::cola2::Cola2Session::close

(

)

Closes a session with the sensor. Executes the close session command.

Returns

If closing the session was successful.

Definition at line 56 of file Cola2Session.cpp.

doDisconnect()

void sick::cola2::Cola2Session::doDisconnect

(

)

Triggers the disconnection of the tcp socket.

Definition at line 62 of file Cola2Session.cpp.

executeCommand()

bool sick::cola2::Cola2Session::executeCommand

(

const CommandPtr &

command

)

Executes the command passed to the function.

Parameters

command

The command to be executed.

Returns

If the execution was successful.

Definition at line 67 of file Cola2Session.cpp.

findCommand()

bool sick::cola2::Cola2Session::findCommand ( const uint16_t &  request_id, CommandPtr &  command  )

private

Definition at line 153 of file Cola2Session.cpp.

getNextRequestID()

uint16_t sick::cola2::Cola2Session::getNextRequestID

(

)

Returns the next request ID. The request ID is used to match the return packages of the sensor to the right command.

Returns

A new request ID.

Definition at line 178 of file Cola2Session.cpp.

getSessionID()

uint32_t sick::cola2::Cola2Session::getSessionID

(

)

const

Returns the current session ID.

Returns

The current session ID.

Definition at line 85 of file Cola2Session.cpp.

open()

bool sick::cola2::Cola2Session::open

(

)

Opens a session with the sensor. Executes the create session command.

Returns

If opening a session was successful.

Definition at line 50 of file Cola2Session.cpp.

processPacket()

void sick::cola2::Cola2Session::processPacket ( const sick::datastructure::PacketBuffer &  packet )

private

Definition at line 95 of file Cola2Session.cpp.

removeCommand()

bool sick::cola2::Cola2Session::removeCommand ( const uint16_t &  request_id )

private

Definition at line 165 of file Cola2Session.cpp.

sendTelegramAndListenForAnswer()

bool sick::cola2::Cola2Session::sendTelegramAndListenForAnswer ( const CommandPtr &  command )

private

Definition at line 74 of file Cola2Session.cpp.

setSessionID()

void sick::cola2::Cola2Session::setSessionID

(

const uint32_t &

session_id

)

Sets the current session ID.

Parameters

session_id

The new session ID.

Definition at line 90 of file Cola2Session.cpp.

startProcessingAndRemovePendingCommandAfterwards()

bool sick::cola2::Cola2Session::startProcessingAndRemovePendingCommandAfterwards ( const sick::datastructure::PacketBuffer &  packet )

private

Definition at line 128 of file Cola2Session.cpp.

Member Data Documentation

m_async_tcp_client_ptr

std::shared_ptr<sick::communication::AsyncTCPClient> sick::cola2::Cola2Session::m_async_tcp_client_ptr

private

Definition at line 143 of file Cola2Session.h.

m_command_map_mutex

boost::mutex sick::cola2::Cola2Session::m_command_map_mutex

private

Definition at line 150 of file Cola2Session.h.

m_execution_mutex

boost::mutex sick::cola2::Cola2Session::m_execution_mutex

private

Definition at line 151 of file Cola2Session.h.

m_last_request_id

uint16_t sick::cola2::Cola2Session::m_last_request_id

private

Definition at line 154 of file Cola2Session.h.

m_packet_merger_ptr

std::shared_ptr<sick::data_processing::TCPPacketMerger> sick::cola2::Cola2Session::m_packet_merger_ptr

private

Definition at line 145 of file Cola2Session.h.

m_parser_ptr

std::shared_ptr<sick::data_processing::ParseTCPPacket> sick::cola2::Cola2Session::m_parser_ptr

private

Definition at line 144 of file Cola2Session.h.

m_pending_commands_map

std::map<uint16_t, CommandPtr> sick::cola2::Cola2Session::m_pending_commands_map

private

Definition at line 148 of file Cola2Session.h.

m_session_id

uint32_t sick::cola2::Cola2Session::m_session_id

private

Definition at line 153 of file Cola2Session.h.

m_tcp_parser_ptr

std::shared_ptr<sick::data_processing::ParseTCPPacket> sick::cola2::Cola2Session::m_tcp_parser_ptr

private

Definition at line 146 of file Cola2Session.h.

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The documentation for this class was generated from the following files:

• Cola2Session.h
• Cola2Session.cpp